/PROG  TL2_PICK
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL2 PICK";
PROG_SIZE	= 1849;
CREATE		= DATE 12-04-21  TIME 12:15:08;
MODIFIED	= DATE 25-02-22  TIME 16:09:28;
FILE_NAME	= TL1_PICK;
VERSION		= 0;
LINE_COUNT	= 35;
MEMORY_SIZE	= 2341;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[26:TOOL #2]=ON    ;
   6:J P[14:CLEAR] 50% CNT100    ;
   7:J P[15:CLEAR] 50% CNT100    ;
   8:   ;
   9:   ;
  10:L P[4:APPROACH] 600mm/sec CNT100    ;
  11:L P[5:APPROACH] 300mm/sec CNT100    ;
  12:L P[6:APPROACH] 300mm/sec FINE    ;
  13:   ;
  14:  //J P[1111] 100% FINE    ;
  15:  //J P[3] 100% FINE    ;
  16:   ;
  17:  DO[13:REQ ATC CHUCK]=OFF ;
  18:  DO[14:REQ ATC UNCHUCK]=ON ;
  19:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  20:  WAIT    .50(sec) ;
  21:L P[7:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=ON    ;
  22:  WAIT   1.00(sec) ;
  23:  DO[14:REQ ATC UNCHUCK]=OFF ;
  24:  DO[13:REQ ATC CHUCK]=ON ;
  25:  WAIT DI[13:ATC CHUCK OK]=ON    ;
  26:  WAIT   1.00(sec) ;
  27:L P[8:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=OFF    ;
  28:L P[9:APPROACH] 300mm/sec CNT50    ;
  29:  WAIT DI[26:TOOL #2]=OFF    ;
  30:L P[10:APPROACH] 300mm/sec CNT50    ;
  31:L P[1:CLEAR] 600mm/sec CNT50 ACC70    ;
  32:J P[2:CLEAR] 50% CNT100    ;
  33:   ;
  34:   ;
  35:  MOVE TO HOME    ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2908.144  mm,	Y = -1118.831  mm,	Z =  -484.036  mm,
	W =  -180.000 deg,	P =     -.000 deg,	R =   -87.804 deg,
	E1=    15.275 deg
};
P[2:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  1964.311  mm,	Y =     -.007  mm,	Z =  -484.864  mm,
	W =   180.000 deg,	P =     -.000 deg,	R =  -180.000 deg,
	E1=   107.700 deg
};
P[3]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3244.545  mm,	Y =  -543.492  mm,	Z = -1441.031  mm,
	W =  -144.686 deg,	P =    89.469 deg,	R =   -54.697 deg,
	E1=    15.283 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.821  mm,	Y =  -694.238  mm,	Z =  -900.000  mm,
	W =   180.000 deg,	P =    89.668 deg,	R =   -90.000 deg,
	E1=    15.275 deg
};
P[5:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -20.667 deg,	J2=   -18.849 deg,	J3=    72.831 deg,
	J4=   -83.218 deg,	J5=  -109.573 deg,	J6=   -71.587 deg,
	E1=    15.275 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -20.561 deg,	J2=   -14.300 deg,	J3=    69.959 deg,
	J4=   -82.250 deg,	J5=  -109.098 deg,	J6=   291.733 deg,
	E1=    15.283 deg
};
P[7:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3244.389  mm,	Y =  -480.675  mm,	Z = -1441.323  mm,
	W =  -145.383 deg,	P =    89.468 deg,	R =   -55.398 deg,
	E1=    15.293 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3244.406  mm,	Y =  -480.570  mm,	Z = -1354.401  mm,
	W =  -145.518 deg,	P =    89.468 deg,	R =   -55.532 deg,
	E1=    15.293 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -20.135 deg,	J2=   -17.927 deg,	J3=    70.000 deg,
	J4=   -82.434 deg,	J5=  -108.718 deg,	J6=   -68.679 deg,
	E1=    15.275 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -20.857 deg,	J2=   -22.102 deg,	J3=    83.579 deg,
	J4=   -87.208 deg,	J5=  -110.680 deg,	J6=   -83.008 deg,
	E1=    15.275 deg
};
P[14:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  1863.831  mm,	Y =     -.007  mm,	Z =  -484.864  mm,
	W =   180.000 deg,	P =     -.000 deg,	R =  -180.000 deg,
	E1=   107.700 deg
};
P[15:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3088.719  mm,	Y = -1056.328  mm,	Z =  -484.865  mm,
	W =  -180.000 deg,	P =     -.000 deg,	R =   -90.603 deg,
	E1=    15.275 deg
};
P[1111]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3237.403  mm,	Y =  -543.393  mm,	Z = -1440.684  mm,
	W =   179.076 deg,	P =    89.569 deg,	R =   -90.925 deg,
	E1=    15.283 deg
};
/END
